US20080287801A1 - Imaging device, imaging system, and methods of imaging - Google Patents
Imaging device, imaging system, and methods of imaging Download PDFInfo
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- US20080287801A1 US20080287801A1 US11/838,304 US83830407A US2008287801A1 US 20080287801 A1 US20080287801 A1 US 20080287801A1 US 83830407 A US83830407 A US 83830407A US 2008287801 A1 US2008287801 A1 US 2008287801A1
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- imaging device
- assembly
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- diagnostic
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
- A61B8/4461—Features of the scanning mechanism, e.g. for moving the transducer within the housing of the probe
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1492—Probes or electrodes therefor having a flexible, catheter-like structure, e.g. for heart ablation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
- A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/0841—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
- A61B8/445—Details of catheter construction
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/48—Diagnostic techniques
- A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
Definitions
- Imaging device An Imaging device, Imaging System, and Methods of Imaging are disclosed herein.
- Imaging devices imaging systems, and methods of imaging are known.
- imaging assemblies, imaging systems, and methods of imaging suffer from various disadvantages.
- FIG. 1 is a schematic block diagram of an imaging system according to an embodiment
- FIG. 2A is a cross-sectional side view of an imaging device according to an embodiment
- FIG. 2B is a cross-sectional side view of the transducer of FIG. 2A ;
- FIG. 2C is a cross-sectional side view of the imaging device of FIG. 2A disposed within a diagnostic or therapeutic assembly;
- FIG. 2D is a flow chart of a method of placing a tip of a diagnostic or therapeutic assembly according to an embodiment
- FIG. 2E is a flow chart of a method of placing a tip of a diagnostic or therapeutic assembly according to another embodiment
- FIG. 2F is a cross-sectional side view of an alternative embodiment of an imaging device
- FIG. 2G is a perspective view of the imaging drill bit of FIG. 2F ;
- FIG. 3A is a cross-sectional side view of an imaging device according to another embodiment
- FIG. 3B is a cross-sectional side view of the imaging device of FIG. 3A disposed within a biopsy or therapeutic assembly;
- FIG. 4 is a cross-sectional side view of an imaging device according to another embodiment
- FIG. 5 shows a cartooned example of an image that may be produced by an imaging device according to embodiments disclosed herein, including a forward-looking conical section of tissue displayed in a circular format;
- FIG. 6A is a cross-sectional side view of an imaging device according to another embodiment
- FIG. 6B is an enlarged view of the scanning assembly of FIG. 6A ;
- FIG. 7A is a cross-sectional side view of an imaging device according to another embodiment.
- FIG. 7B is an enlarged view of the scanning assembly of FIG. 7A ;
- FIG. 8A is a cross-sectional side view of an imaging device according to another embodiment
- FIG. 8B is an enlarged view of the scanning assembly of FIG. 8A ;
- FIG. 9A is a cross-sectional side view of an imaging device according to another embodiment.
- FIG. 9B is a perspective view of the sector scanning mechanism of FIG. 9A ;
- FIG. 9C is a cross-sectional side view of an imaging device according to another embodiment.
- FIG. 9D is a perspective view of the sector scanning mechanism of FIG. 9A ;
- FIG. 10A is a cross-sectional perspective side view of an imaging device according to another embodiment
- FIG. 10B is a perspective view of the sector scanning mechanism of FIG. 10A ;
- FIG. 10C is a cross-sectional perspective view of an imaging device according to another embodiment.
- FIGS. 11A-11C are perspective views of scanning assemblies according to embodiments.
- FIG. 12 is a cross-sectional side view of an imaging device according to another embodiment.
- FIGS. 13A-13C are flowcharts of methods of imaging according to embodiments.
- imaging modalities are typically standard imaging systems that have been adapted to show the path of the needle as it is advanced to the tissue of interest. In some cases, however, a more precise method of guiding a needle is beneficial. This is particularly true when the size of the tissue to be examined or treated is small compared to the resolution of the standard imaging system. It may also be true when the position of the tissue is significantly displaced by the advance of the needle toward it. Lesions smaller than, for example, ⁇ 3 mm in size may be difficult to visualize with external image guidance systems.
- Breast cancer is a major health problem for women. Early detection and treatment of tumors is crucial to the long-term survival of patients. As such, women are encouraged to perform regular self-examinations and receive an annual breast scan after the age of forty. When suspicious lesions are found, they are typically subjected to needle biopsy to determine the nature of the cells that form the lesion. This is done by inserting a large diameter needle, typically under image guidance, into the suspect tissue whereby a small sample is suctioned into the tip of the needle, removed from the body, and examined under microscope by a cytopathologist. This biopsy is often performed with external ultrasonic or mammographic image guidance of the trajectory of the needle from the skin surface of the breast to the lesion.
- Image guidance also helps physicians to position needles, and similar devices such as reamers and drills, for other medical procedures, such as drainage, precision injections, pedicle screw placements, amniocentesis, cordocentesis, brachytherapy seed implantations, and transabdominal chorionic villus sampling.
- needles and similar devices
- other medical procedures such as drainage, precision injections, pedicle screw placements, amniocentesis, cordocentesis, brachytherapy seed implantations, and transabdominal chorionic villus sampling.
- the resolution of the external imaging system may be inadequate to ensure that the needle, reamer or drill tip is in the desired location.
- Embodiments relate generally to the fields of diagnostic and therapeutic medicine, and more specifically, to an imaging device which may include may be deployed within a needle or other diagnosis therapy device to aid in guiding the needle or other diagnosis therapy device to a precise location for diagnoses and treatment of, for example, soft tissue lesions, and methods of imaging using such an imaging device.
- At least one embodiment described herein incorporates a very low cost imaging system and an inexpensive imaging device design that may be sold as a disposable device. While an external imaging system, or previously acquired external images, may be used to position a tip of the imaging device in the vicinity of suspect tissue, an operator of the imaging device according to embodiments may switch to an integrated imaging device and tip imaging system, and more precisely direct the tip of the imaging device to the desired location when a lesion is very small.
- the combined imaging system also takes up little space and may be integrated into the bed or procedure table that a physician would normally use.
- All of the embodiments disclosed herein allow for a more accurate placement of a tip of a needle, reamer or drill assembly by virtue of imaging tissue structures that lie distal to the tip and advancing accordingly to a desired location.
- the imaging device, imaging system, and methods of imaging according to embodiments allow diagnostic or therapeutic needle-based (reamer or drill based) procedures, for a more accurate sampling of the suspect tissue for later examination and in some cases, the direct treatment of a lesion using various therapies or placement of pedicle screws or other like devices.
- Embodiments disclosed herein allow for the visualization of smaller lesions during diagnostic and therapeutic procedures, a more accurate sampling of suspect tissue for later examination and in some cases, direct treatment of a lesion using various therapies.
- the imaging device, imaging system, and methods of imaging may include an imaging device that may fit inside, for example, a diagnostic, biopsy, drainage, or therapeutic assembly.
- the imaging device may reside inside the diagnostic, biopsy, drainage, or therapeutic assembly as the combined device is advanced to a desired location. Images may be produced that allow for accurate placement of the diagnostic, biopsy, drainage, therapeutic assembly or pedicle drill.
- a transducer may be located near a distal tip of the imaging device at an angle relative to a central longitudinal axis (referred to hereinafter as the “the central axis”) of the imaging device.
- the transducer may be housed in a scanning assembly that sweeps the transducer through an angle of acoustic scan.
- the scanning assembly may transmit and collect echoes from a forward-looking sector or conical section of tissue that lies just distal to a distal most tip of the imaging device.
- An image may be formed when the imaging device is rotated.
- As a sector angle may be swept out, the image in the corresponding sector of the display may be updated.
- the imaging device may be rotated through, for example, a full ⁇ 360 degree sweep to display the entire conical section of tissue.
- the imaging device may be swept repeatedly back and forth over a narrower sector to transmit and receive the scan lines and update a display of an imaging system repeatedly only over the narrow sector.
- the operator may manually maneuver the tip of the imaging device to a precise location that appears in the display.
- a second assembly for diagnosis or therapy may be preloaded onto the imaging device and when the imaging device is in place the second assembly may be advanced over the imaging device in a co-axial fashion to the desired location. Once the diagnostic or therapy assembly is in place, the imaging device may be withdrawn and the standard procedure may continue.
- both a forward-looking conical section of tissue and a forward-looking angular sector of tissue may be interrogated.
- the sector image may be made by “wobbling” the scanning assembly back-and-forth through a desired sector angle. This wobbling action varies the angle of the transducer with respect to a central axis of the imaging device.
- the wobbling may be accomplished through a variety of mechanical mechanisms that allow a force to be exerted on the scanning assembly while a second angle encoder is recording a position of the proximal portion of the mechanism.
- the operator desires to change the forward-looking cone angle, he or she may do so by adjusting and setting the transducer angle with respect to the central axis of the imaging device. Further, if the operator wishes to interrogate, for example, an entire three-dimensional forward-looking conical volume this may also be done by sweeping out a series of sectors as the imaging device is rotated in the tissue about the central axis of the imaging device. Analogously, this may be achieved by rotating the scanning assembly though a series of cones while varying the angle from a maximum possible angle with respect to the central axis of the imaging device to in-line with the central axis of the imaging device. Software may be provided to keep track of both the rotational angle of the housing and the angle of the transducer about the central longitudinal axis of the scanning assembly, and appropriately recording these along with the echo data that returns to the transducer in each position.
- the imaging device may be used with or incorporated into a diagnostic or therapeutic assembly.
- a standard diagnostic or therapeutic assembly may be advanced or retracted over the imaging device co-axially.
- Such a combination allows the diagnostic or therapeutic assembly to be accurately directed to an area of interest based on information in the images produced using signals from the imaging device.
- the imaging device may fit inside a diagnostic or therapeutic assembly, such as a biopsy, drainage, or other type therapy assembly.
- the imaging device may reside inside the diagnostic or therapy assembly as the combined device is advanced to a desired location. Two-dimensional or three-dimensional images using signals from the imaging device may be produced that allow for the accurate placement of the diagnostic or therapy assembly.
- the imaging device may take the form of an imaging drill or imaging reamer that may be used, for example, to create precisely located pilot holes in the pedicles of the vertebrae for spinal fixation procedures.
- a fluted drill-like surface or a ribbed reamer surface may be substituted for the smooth surface of the imaging device.
- the imaging device may be manually rotated or electronically rotated.
- the imaging device may be rotated ⁇ 360° to produce an image, for example, a forward-looking circular or conical image.
- the forward-looking circular or conical image may be representative of tissue on a surface of a cone.
- the scanning assembly may be rotated about the central longitudinal axis of the scanning assembly to scan a sector image, for example, a forward-looking sector image.
- the scanning assembly according to certain embodiments may be rotated to produce a three-dimensional volumetric image by rotating a scanned sector image.
- the imaging device according to embodiments is disclosed as utilized with an imaging system shown in FIG. 1 and described in U.S. patent application Ser. No. 11/053,141, which is hereby incorporated by reference. However, it should be understood that the imaging device according to embodiments may be utilized with other systems as well.
- FIG. 1 shows an imaging system described in U.S. patent application Ser. No. 11/053,141, which is hereby incorporated by reference.
- This system is a low-cost ultrasonic imaging system. Unlike conventional mechanically steered imaging systems, this system does not require a motor to rotate or wobble the scanning assembly. Instead, driving the scanning assembly may be done manually by the operator and the image displayed as the transducer is swept through a section of tissue to be imaged.
- the imaging device 10 may emit a transmit signal and receive echoes, which may be carried to an electronics module 18 by a cable 12 .
- An angle of rotation of the imaging device 10 may be encoded by an angle encoder 16 and the quadrature signals may be carried from, and power may be carried to the angle encoder 16 via a small multi-conductor cable 24 .
- the echoes may be demodulated and passed to a Central Processor 20 for display on a monitor 21 .
- the demodulated echo data may be combined with the image assembly angle information to place the echo line, representing the tissue being imaged, in the correct geometric location as described in co-pending U.S. patent application Ser. No. 11/437,687, filed May 22, 2006, entitled “Apparatus and Method for Rendering for Display Forward-Looking Image Data” (Attorney Docket No. NOVS-0004), which is hereby incorporate by reference.
- the image may be rendered for display on the monitor 21 .
- FIG. 2A is a side view of an imaging device according to an embodiment.
- FIG. 2B is a cross-sectional side view of the transducer of FIG. 2A .
- FIG. 2C is a cross-sectional side view of the imaging device of FIG. 2A disposed within a diagnostic or therapeutic assembly.
- the imaging device 200 of FIG. 2A maybe in the form of an imaging needle assembly, and may be designed to form a conical forward-looking image 245 , as shown in FIG. 2A .
- the imaging device 200 may include a housing 230 .
- An angle encoder 240 may be provided to encode a rotational angle of the housing 230 relative to the rest of the device and a hand grip.
- the grip which may be in the form of knurled sleeves 238 , 242 , may be provided to assist an operator in grasping the housing 230 .
- a transducer 234 may be positioned on a distal tip 236 of the imaging device 200 .
- the transducer 234 may include, for example, an ultrasonic transducer, such as the transducer shown in FIG. 2B .
- the transducer 234 may be oriented along a line C 2 at an angle ⁇ 1 from a central axis C 1 of the imaging device 200 between ⁇ 0 degrees and ⁇ 90 degrees. For the purpose of illustration, an angle in the range of ⁇ 10 degrees and ⁇ 30 degrees is shown.
- the transducer 234 may communicate through a coaxial cable 232 and a connector 246 to an imaging system, such as the imaging system as shown in FIG. 1 .
- the transducer may include, for example, a face plate 250 that serves as a matching layer 252 , a piezoelectric transducer 254 , and an absorptive backing layer 256 that attenuates the sound waves emanating for a rear side of the piezoelectric transducer 254 .
- the matching layer 252 may be made of an appropriate material such that it is, for example, an approximately 1 ⁇ 4 wavelength thick and has an acoustic impedance that is the geometric mean of the piezoelectric material and the body tissue. It may also be made of multiple layers of appropriately selected materials so as to broaden a bandwidth of the transmitted and received sound waves.
- a frequency of the transducer may be selected to provide sufficient resolution to make adequate images of small structures, for example, ⁇ ⁇ 3 mm an operator wishes to locate and yet allow for sufficient penetration so the operator may visualize a larger landscape that aids in locating more distant lesions.
- An aperture (or size and shape) of the transducer may be configured to fit within the imaging device 200 and may be used primarily as an unfocused near-field imaging device, although it may include a lens for focusing, if desired.
- the angle encoder 240 may be formed integral with the imaging device 200 .
- the angle encoder 240 may include a cable 243 and a connector 244 .
- an operator may rotate the housing 230 , for example, by grasping the knurled sleeves 238 or 242 between the thumb and index finger.
- the integral angle encoder 240 may encode the rotational angle in real time as the housing 230 is rotated. Echo information may be carried back to an electronics module 18 of an imaging system, such as the imaging system shown in FIG. 1 , by the coaxial cable 232 and the connector 246 . Angle information may be carried back to the electronics module 18 via the cable 243 through the connector 244 . As the operator sweeps out an angular sector by rotating the housing 230 , the image may be updated in real time on the display module 21 .
- FIG. 2C is a cross-sectional side view of the imaging device of FIG. 2A disposed within a diagnostic or therapeutic assembly.
- the imaging device may be in the form of an imaging needle assembly and the diagnostic or therapeutic assembly in the form of a diagnostic or therapeutic needle assembly.
- the distal portion 235 of the imaging device 200 from the knurled sleeve 238 on may fit inside of an exterior housing 217 of the diagnostic or therapeutic assembly 215 , as shown in FIG. 2C .
- the imaging device 200 may be removed from a lumen 219 of the diagnostic or therapeutic assembly 215 and the standard procedure may continue.
- the diagnostic or therapeutic assembly 215 may further include a connector 218 , such as a leur connector.
- FIG. 2D is a flow chart of a method of placing a tip of a diagnostic or therapeutic assembly at a specific location in tissue according to an embodiment.
- the imaging device may be in the form of an imaging needle assembly and the diagnostic or therapeutic assembly in the form of a diagnostic or therapeutic needle assembly.
- the method may include forming an image using an external imaging system, such as a commercially available ultrasonic imaging system (step 2 D 10 ).
- An imaging device may then be advanced toward a general area of tissue with guidance from images produced by the external imaging system (step 2 D 20 ).
- the imaging device may be advanced to a precise location guided by images produced using signals from the imaging device (step 2 D 30 ).
- a pre-loaded diagnostic or therapeutic assembly may be advanced co-axially over the imaging device (step 2 D 40 ), and the imaging device co-axially withdrawn from a lumen of the diagnostic or therapeutic assembly (step 2 D 50 ).
- a diagnostic or therapeutic procedure may then be performed at the location using the diagnostic or therapeutic assembly (step 2 D 60 ).
- This method may be employed in, for example, general biopsy procedures, breast biopsy procedures, prostate biopsy procedures, aspiration procedures, amniocentesis procedures, cordocentesis procedures, and transabdominal chorionic villus sampling procedures. Further, the method may be employed to perform a therapeutic procedure, such as RF ablation, a chemical injection, and a brachytherapy seed placement procedure. With this method, a lesion to be diagnosed or treated may be less than ⁇ 3 millimeters in size.
- FIG. 2E is a flow chart of a method of placing a tip of a diagnostic or therapeutic assembly at a specific location in tissue according to an embodiment.
- the imaging device may be in the form of an imaging needle assembly and the diagnostic or therapeutic assembly in the form of a diagnostic or therapeutic needle assembly.
- the method may include palpating a suspect lesion (step 2 E 10 ).
- An imaging device may then be advanced toward a general area of tissue with guidance from images produced by the external imaging system (step 2 E 20 ).
- the imaging device may be advanced to a precise location guided by images produced using signals from the imaging device (step 2 E 30 ).
- a pre-loaded diagnostic or therapeutic assembly may be advanced co-axially over the imaging device (step 2 E 40 ), and the imaging device may be co-axially withdrawn from a lumen of the diagnostic or therapeutic assembly (step 2 E 50 ).
- a diagnostic or therapeutic procedure may be performed at the location using the diagnostic or therapeutic assembly (step 2 E 60 ).
- This method may be employed in, for example, general biopsy procedures, breast biopsy procedures, prostate biopsy procedures, aspiration procedures, amniocentesis procedures, cordocentesis procedures, and transabdominal chorionic villus sampling procedures. Further, the method may be employed to perform a therapeutic procedure, such as RF ablation, a chemical injection, and a brachytherapy seed placement procedure. With this method, a lesion to be diagnosed or treated may be less than ⁇ 3 millimeters in size.
- the imaging device may take the form of an imaging drill or imaging reamer that may be used, for example, to create precisely located pilot holes in the pedicles of the vertebrae for spinal fixation procedures.
- a fluted drill-like surface or a ribbed reamer surface may be substituted for the smooth surface of the imaging device. Examples of such alternative embodiments are shown in FIGS. 2F and 2G . That is, FIG. 2F shows an imaging drill bit 233 provided as a distal end 236 ′ of the imaging device 200 ′. The imaging drill bit 233 and housing 230 ′ may be rotated by rotating knob or sleeve 298 ′.
- An angle encoder 240 ′ including photo interrupter 245 ′ and slit wheel 244 ′, may be provided housed within outer sleeve 230 a ′.
- a grip which may be in the form of knurled knob 238 ′, may be provided on the outer sleeve 230 a ′, to allow either rotating or oscillating motion. Rotation creates the circular image 245 ′ depicted.
- FIG. 2G shows the imaging drill bit 233 ′ depicted with the transducer 234 ′ and cutting edges 233 a ′ along both sides of four flutes along a tapered body connected to straight shank 233 b ′.
- the straight shank 233 b ′ may mount permanently in the imaging device 200 ′.
- FIG. 3A shows another embodiment of an imaging device.
- FIG. 3B is a cross-sectional side view of the imaging device of FIG. 3A disposed within a biopsy or therapeutic assembly.
- the imaging device may be in the form of an imaging needle assembly and the diagnostic or therapeutic assembly in the form of a diagnostic or therapeutic needle assembly.
- like reference numerals have been used to indicate like elements to the embodiment of FIGS. 2A-2B , and repetitive disclosure has been omitted.
- the imaging device 300 of FIGS. 3A-3B may be in the form of an imaging needle assembly.
- a distal end 236 of the imaging device 300 may be substantially blunt rather than sharp.
- the imaging device 300 may fit completely inside a biopsy or therapeutic assembly 315 , as shown in FIG. 3B , and provide images of tissue at a distal-most tip of the biopsy or therapeutic assembly 315 .
- An imaging device 300 such as that shown in FIG. 3A is particularly useful in aiding precise placement of a second tip 316 , as shown in FIG.
- the biopsy or therapeutic assembly 315 may be used for, for example, a drainage procedure, chemical injection, amniocentesis, cordocentesis, or transabdominal chorionic villus sampling.
- a drainage procedure chemical injection, amniocentesis, cordocentesis, or transabdominal chorionic villus sampling.
- images may be obtained and mid-course corrections may be made to ensure that the tip of the biopsy or therapeutic assembly 315 may be precisely located in, for example, the desired tissue, vessel, lumen, or any other anatomical structure.
- the biopsy or therapeutic assembly 315 may further include a connector 318 , such as a leur connector.
- FIG. 4 shows another embodiment of an imaging device.
- like reference numerals have been used to indicate like elements to the embodiments of FIGS. 2A-3B , and repetitive disclosure has been omitted.
- the imaging device 400 of FIG. 4 may be in the form of an imaging needle assembly.
- a treatment device shown in this embodiment as an ablation device 449 , such as a radiofrequency (RF) ablation antenna, may be incorporated into the distal end 436 of the imaging device 400 so that tissue in a target location may be ablated or cauterized.
- a central axis of the imaging device 400 is designated by reference numeral D 1 in FIG. 4 .
- the ablation device 449 may be located along a line D 3 , as shown in FIG. 4 , at an angle ⁇ 2 , shown in this embodiment ⁇ 180 degrees of rotation around the central axis of the imaging device from a line D 2 on which the transducer 434 is positioned.
- the location of the ablation device 449 may be displayed on images that are created to allow the operator to image, then ablate or cauterize specific areas of tissue that appear in the image, such as a conical forward-looking image.
- Ablation energy may be carried to the ablation device 449 via cable 450 and attached to the electronics module 18 via a connector 446 .
- the specific shape of the ablation device 449 may be designed to ablate or cauterize a variety of small volume shapes near the tip or distal end 436 of the imaging device 400 .
- the specific electrical signal sent to the ablation device 449 may be optimized for either ablation or cauterization.
- FIG. 5 shows an example of how an imaging device according to embodiments may be displayed on a forward-looking guidance image.
- the image may be displayed as a two-dimensional image or as described in co-pending U.S. patent application Ser. No. 11/437,687, filed May 22, 2006, entitled “Apparatus and Method for Rendering for Display Forward-Looking Image Data” (Attorney Docket No. NOVS-0004), which is hereby incorporated by reference.
- line 552 for example, of the image 551 displays a direction from which scan lines are being received. This corresponds to an angular orientation of the transducer.
- the location 554 where the therapy will occur may also be displayed and may be rotated with the transducer albeit, for example, ⁇ 180 degrees away from where the new image lines are received.
- the center axis 553 of the imaging device may be stationary. Tissue structures 555 , 556 , 557 , 558 will be seen if they intersect the forward-looking conical surface that is being swept out by the transducer.
- the imaging device according to the embodiments of FIGS. 2A-4 are shown as forming a conical forward-looking image.
- a need may exist to scan in a sector mode, in addition to a circular or conical mode.
- the following embodiments accomplish this via a sector scanning mechanism that wobbles or oscillates a scanning assembly in order to scan a sector image.
- FIG. 6A shows another embodiment of an imaging device.
- FIG. 6B is an enlarged view of the scanning assembly of FIG. 6A .
- like reference numerals have been used to indicate like elements to the embodiments of FIGS. 2A-4 , and repetitive disclosure has been omitted.
- the imaging device 600 of FIGS. 6A-6B may be in the form of an imaging needle assembly.
- the embodiment of FIGS. 6A-6B includes a sector scanning mechanism 690 by which an angle ⁇ 3 of a transducer 634 a of the scanning assembly 666 from a central axis E 1 of the imaging device 600 may be varied, thereby forming a sector image 645 from a distal end 636 of the imaging device 600 .
- a drive shaft 673 that runs a length of the imaging device 600 and terminates at one end 636 with a gear 672 b that drives the scanning assembly 666 (mounted on axle 666 b ) through a sector angle and at the other end 639 in a knob 698 after passing through a slotted encoder wheel 684 that allows the sector angle to be recorded.
- the sector image 645 that is produced may be manually swept out around central axis E 1 by the operator when he or she rotates knurled sleeve 638 at the end 637 of the housing 630 .
- the mechanism shown, in this embodiment may incorporate a bevel gear 672 a and bevel gear 672 b that wobble the scanning assembly 666 on the axle 666 b in response to the drive shaft 673 being oscillated back-and-forth by the turning of the knurled sleeve 638 .
- the drive shaft 673 may be held in place by a support fixture 678 that captures a bearing 679 , inside of which the drive shaft 673 rotates.
- the drive shaft 673 may also be connected to an angle encoder 680 .
- the angle encoder 680 may include a slit wheel 684 around which a photo interrupter 685 is positioned.
- the photo interrupter 685 may include a light emitting diode 687 and a photo detector 686 that sense each time a slit on the angle encoder slit wheel 684 passes between them. This may be similar to the angle encoding function performed by an angle encoder 640 for the imaging device 600 itself
- the angle encoder 640 of the imaging device 600 may include a slit wheel 649 and a photo interrupter 646 , which may include a light emitting diode 647 and a photo detector 648 .
- the photo interrupter 685 may be attached to and rotate with the housing 630 .
- the wiring of the two photo interrupters is not shown for clarity; however, it would be obvious to one skilled in the art.
- FIG. 7A shows another embodiment of an imaging device.
- FIG. 7B is an enlarged view of the scanning assembly of FIG. 7A .
- like reference numerals have been used to indicate like elements to the embodiments of FIGS. 2A-4 and 6 A- 6 B, and repetitive disclosure has been omitted.
- the imaging device 700 of FIGS. 7A-7B may be in the form of an imaging needle assembly.
- the embodiment of FIGS. 7A-7B may incorporate a sector scanning mechanism 790 to vary the angle of or wobble the scanning assembly 766 .
- F 1 represents a central longitudinal axis of the imaging device 700 .
- the sector scanning mechanism may be in the form of a draw-string mechanism that allows the scanning assembly 766 mounted on axle 766 b to be rotated an angle ⁇ 4 with respect to the central axis of the imaging device 700 .
- the draw-string mechanism 794 may include pull wires 791 that run a predetermined length along the imaging device 700 and wrap around a pulley 792 that communicates with an angle encoder 780 .
- the angle encoder 780 may include a slotted encoder wheel 784 driven by the pulley 792 that allows an angle of the axle 793 to be recorded via photo interrupter 785 .
- a knob 796 may be provided on one end of the axle 793 to rotate the axle 793 .
- the pull wires or draw strings 791 may be used to drive the scanning assembly 766 back-and-forth through a desired sector angle to produce a sector image 745 .
- the draw strings or pull wires 791 may wrap one or mote times around the pulley 792 , which in turn may be connected to the axle 793 that is rotated when the knob 796 is rotated.
- the encoder slit wheel 784 may be positioned on the other end of the axle 793 to trigger the photo interrupter 785 , and thereby encode the angle of the pulley 792 .
- the radius of the pulley 792 may be smaller or larger than the radius of the scanning assembly 766 to affect a gearing up or a gearing down.
- the angle encoder 740 of the imaging device 700 may include a slit wheel 749 and a photo interrupter 746 , which may include a light emitting diode 747 and a photo detector 748 .
- the photo interrupter 785 may be attached to and rotate with the housing 730 .
- the wiring of the two photo interrupters is not shown for clarity; however, it would be obvious to one skilled in the art.
- FIG. 8A shows another embodiment of an imaging device.
- FIG. 8B is an enlarged view of the scanning assembly of FIG. 8A .
- the imaging device 800 of FIGS. 8A-8B may be in the form of an imaging needle assembly.
- the embodiment of FIGS. 8A-8B may include a sector scanning mechanism 890 to vary the angle of or wobble the scanning assembly 866 to form a sector image 845 .
- G 1 represents a central axis of the imaging device 800 .
- the sector scanning mechanism 890 allows the scanning assembly 866 mounted on axle 866 b to be rotated an angle ⁇ 5 with respect to the central axis of the imaging device 800 .
- This mechanism employs a concentric “drivetube” hypotube or inner tube 890 a that has an angled slot 892 at a distal end that engages a pin 894 on the scanning assembly 866 .
- An angle encoder 880 which may include a slotted encoder wheel 884 , allows an angle of the inner tube 890 a to be recorded.
- the concentric “dtivetube” hypotube drive or inner tube 890 a on the inside of the housing 830 may be used as a drive shaft.
- the angled slot 892 may be provided engaged by the pin 894 on the scanning assembly 866 .
- the angled slot 892 pushes the pin 894 proximal and distal, thereby rotating the scanning assembly 866 back and forth over the sector angle to produce the sector image 845 .
- the inner tube 890 a may have a second oppositely angled slot on the other side (not shown) so as to engage a second pin (not shown) on the far side of the scanning assembly 866 .
- the axle 866 b (which corresponds to the central longitudinal axis of the scanning assembly) may, in fact, need to have an “omega” shape so as not to interfere with the inner tube 890 a or the inner tube 890 a may need to have part of its wall removed where the axle 866 b enters the housing 830 . This is not shown for simplicity.
- the inner tube 890 a may have an encoder slit wheel 884 attached thereto which rotates with the inner tube 890 a . As the encoder slit wheel 884 rotates, the photo interrupter 885 may generate pulses in response to each slit as it interrupts the light path from the light emitting diode 887 to the photo detector 886 .
- the angle encoder 840 of the imaging device 800 may include a slit wheel 849 and a photo interrupter 846 , which may include a light emitting diode 847 and a photo detector 848 .
- the photo interrupter 885 may be attached to and rotate with the housing 830 .
- the wiring of the two photo interrupters is not shown for clarity; however, it would be obvious to one skilled in the art.
- FIGS. 9A-10B show embodiments in which the scanning assembly may be oscillated by a sector scanning mechanism.
- the imaging device 900 , 900 , 1000 , 1000 a of each of FIGS. 9A-9B , 9 C- 9 D, and 10 A- 10 C may be in the form of an imaging needle assembly.
- FIGS. 9A-9B show an exemplary embodiment in which the sector scanning mechanism may include a pull and retract mechanism.
- FIGS. 9C-9D show an exemplary embodiment in which the sector scanning mechanism may include cranks and a connecting rod.
- FIGS. 10A-10B show an exemplary embodiment in which the sector scanning mechanism may include an oscillating drive shaft driven by an oscillating output mechanism.
- FIG. 10C shows an exemplary embodiment in which the sector scanning mechanism may include an oscillating drive motor.
- a sector scanning mechanism 990 may be provided in the form of a pull-and-retract mechanism.
- the pull-and-retract mechanism may include a cable 991 that pulls the scanning assembly 966 , mounted on a pivot 966 b through an angle via a pulley 992 .
- the angularly displaced scanning assembly 966 may be returned to its original position by a spring 994 , 994 a pulling in the opposite direction.
- the spring 994 , 994 a may be connected to a base 995 , 995 a and to the scanning assembly 966 and/or the pulley 992 , as shown in FIGS. 9A-9B .
- a sector scanning mechanism 990 ′ may be provided in the form of a crank and rod mechanism that pulls and pushes the scanning assembly 966 ′.
- the crank and rod mechanism may include rod 991 ′ connected to rotating crank 992 ′ and to the scanning assembly 966 ′, which may be mounted on pivot 966 b ′.
- the rotating crank 992 ′ may be mounted on shaft 993 ′ and may be driven by gear 996 ′.
- a spring 994 a ′ may be attached to base 995 a ′ and scanning assembly 966 ′ to prevent backlash.
- the angle encoder 940 of the imaging device 900 may include a slit wheel 949 and a photo interrupter 946 , which may include a light emitting diode 947 and a photo detector 948 .
- the photo interrupter 985 may be attached to and rotate with the housing 930 .
- the wiring of the two photo interrupters is not shown for clarity; however, it would be obvious to one skilled in the art.
- a sector scanning mechanism 1090 may be provided in the form of an oscillating drive shaft 1095 driven by an oscillating output mechanism. That is, rotary motion from a motor 1096 and encoder 1040 may be converted to oscillating rotary motion by a small crank 1092 connected by a connecting rod 1093 connected to a larger crank 1094 .
- the oscillating motion may be transmitted by an output or drive shaft 1095 to the scanning assembly 1066 where a pair of miter gears (not shown) transmit the oscillation to a shaft perpendicular to that of the drive shaft 1095 .
- This right angle drive may be accomplished with miter, bevel, hypoid, helical, or brequet gears. In this way, the scanning assembly may be driven in a direction substantially perpendicular to that of the output or drive shaft 1095 .
- an imaging device 1000 may include a scanning assembly 1066 disposed within housing 1030 .
- the oscillating mechanism 1090 may be provided to convert rotary motion into an oscillating motion.
- the sector scanning mechanism 1090 may include an input shaft 1091 , an input crank 1092 , a connecting rod 1093 , an output crank 1094 , and an output shaft 1095 .
- the rotational motion may be converted to an oscillating motion by the input crank 1092 , the connecting rod 1093 , and the output crank 1094 , so that the output shaft 1095 may be oscillated about its central longitudinal axis.
- the output shaft 1095 may be connected to the scanning assembly 1066 to rotate the transducer about an axis substantially perpendicular to the central axis of the output shaft 1095 .
- the sector scanning mechanism 1090 a of FIG. 10C may include drive or output shaft 1095 a .
- An oscillating motor 1096 a and encoder 1040 a may oscillate the drive or output shaft 1095 a , thereby oscillating the scanning assembly 1066 a.
- the imaging device of the embodiments of FIGS. 2A-4 and 6 - 10 C are shown as forming a conical forward-looking image or a forward-looking sector image. However, the imaging device of the embodiments of FIGS. 2A-4 and 6 - 10 C may be configured to produce other shaped images if so desired. Further, the imaging device of the embodiments of FIGS. 2A-4 and 6 - 10 C may be mechanically or electronically operated. Additionally, although the imaging device of the embodiments of FIGS. 2A-4 and 6 - 10 C are discussed as utilizing an ultrasonic transducer, the imaging device of the embodiments of FIGS. 2A-4 and 6 - 10 C may utilize other types of transducers, such as an optical transducer, if desired.
- FIGS. 6A-8B and 9 A- 10 C each include a sector scanning mechanism.
- a sector scanning mechanism One of ordinary skill in the art would recognize that these embodiments may be combined to produce desired scanning. Further, combining the sector scanning mechanism and a rotating mechanism configured to rotate the imaging device will allow the scanning, and thus imaging of volumes of tissues.
- the operator may rotate the imaging device 600 , 700 , 800 , 900 , 900 ′, 1000 , 1000 a to form an image of the tissue on a surface of a forward-looking conical surface or back and forth to form a forward-looking sector image 645 , 745 , 845 , 948 , 1048 of the tissue.
- the operator desires, he/she can perform a series of scanning assembly rotations and sector angle wobbles to manually interrogate an entire three-dimensional volume of tissue in front of the imaging device 600 , 700 , 800 , 900 , 900 ′, 1000 , 1000 a .
- This resultant three-dimensional echo data may then be displayed by techniques common in the field to show all of the tissue in a conical volume distal to the tip of the imaging device 600 , 700 , 800 , 900 , 900 ′, 1000 , 1000 a.
- Volumes may be rapidly scanned by combining, for example, a rotary oscillation with a sector scan to produce a volume scan.
- the mounting containing the sector scan mechanism may be made to oscillate or rotate about a central axis of the imaging device.
- the scanning assembly may be inclined at an angle where a midpoint of the sector is at an angle to the central axis of the imaging device that is half the total sector angle to most efficiently use the available scanning time. This avoids “wasting time” repeatedly scanning previously scanned tissue.
- FIG. 12 One exemplary embodiment of an imaging device configured for volume scanning is shown in FIG. 12 .
- the imaging device 1200 of FIG. 13 may be in the form of an imaging needle assembly. Further, the imaging device 1200 shown in FIG. 12 may include a scanning assembly 1266 mounted within housing 1230 .
- the sector scanning mechanism 1290 may be driven by motor 1296 . That is, output shaft 1291 may be attached to connector mechanism 1297 via drive shaft 1299 a .
- Drive shafts 1299 a and 1299 b and connector mechanism 1297 also connect the motor 1296 to gear 1298 a which mates with gear 1298 b mounted on housing 1230 to rotate the imaging device 1200 in a rotary motion.
- FIGS. 13A-13C are flow charts of a method of imaging using an imaging device according to embodiments.
- the method of FIG. 13A includes providing a rigid imaging device configured to rotate or oscillate a transducer in a housing of the imaging device, while recording changes in an angle of the housing with respect to a patient, to sweep out a forward-looking conical image (step 13 A 10 ).
- the transducer is then rotated or oscillated in the housing to produce a forward-looking conical image (step 13 A 20 ).
- the rigid imaging device may be, for example, a rigid imaging needle device, a rigid imaging drill device, or a rigid imaging reamer device.
- the method of FIG. 13B includes providing a sector scanning mechanism configured to oscillate a transducer in a scanning assembly of an imaging device to sweep out a sector image (step 13 B 10 ).
- the transducer is then oscillated in the scanning assembly to produce a two-dimensional forward-looking sector image (step 13 B 30 ).
- the method of FIG. 13C includes providing a sector scanning mechanism configured to oscillate a transducer in a scanning assembly of an imaging device to sweep out a sector image (step 13 C 10 ).
- the transducer is oscillated in the scanning assembly to produce a sector image (step 13 C 20 ).
- the transducer is rotated or oscillated in the scanning assembly in a plane perpendicular to a central axis of the imaging device, while changes in an angle of a housing of the imaging device with respect to a patient are recorded (step 13 C 30 ). All of the returned data is then collected (step 13 C 40 ), and a three-dimensional forward-looking conical image is constructed (step 13 C 50 ).
- the angle of the scanning assembly with respect to the central axis of the imaging device may be adjustable within a range of ⁇ 0° to ⁇ 180°. More particularly, the angle of the scanning assembly with respect to the central axis of the imaging device may be adjustable within a range of ⁇ 60° to ⁇ 120°.
- step 13 C 20 may be performed continuously during step 13 C 30 .
- steps 13 C 20 - 13 C 30 may be configured to produce a spiral scan.
- the scanning assembly is shown to include one transducer.
- large ranges of motions may be difficult to achieve with only one transducer.
- the required range of motion may be cut in half by using, for example, two transducers, as shown in FIG. 11A-11C .
- the scanning assembly 1166 includes two transducers 1134 a and 1134 b , which may be placed at half of the sector angles and alternately fired to generate scan lines.
- FIG. 11C shows an embodiment in which two transducers are provided.
- the two transducers are positioned at different angles about the central longitudinal axis of the scanning assembly.
- the two transducers may be operated at different scanning frequencies to image different tissue types or structures.
- FIGS. 11A-11C two transducers are shown; however, more than two transducers may be utilized to produce proportional results.
- any reference in this specification to “one embodiment,” “an embodiment,” “example embodiment,” etc. means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention.
- the appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment.
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Also Published As
Publication number | Publication date |
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JP2010500153A (ja) | 2010-01-07 |
WO2008021343A3 (en) | 2009-02-19 |
WO2008021343A2 (en) | 2008-02-21 |
EP2465439A1 (en) | 2012-06-20 |
EP2056713A4 (en) | 2009-12-02 |
EP2056713A2 (en) | 2009-05-13 |
WO2008021343A9 (en) | 2009-04-09 |
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